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remove unused function
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SteveMacenski authored and doisyg committed Jan 9, 2023
1 parent 957b376 commit 2946804
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Showing 2 changed files with 0 additions and 12 deletions.
Original file line number Diff line number Diff line change
Expand Up @@ -56,12 +56,6 @@ class ObstaclesCritic : public CriticFunction
*/
bool inCollision(float cost) const;

/**
* @brief Get max useful cost
* @return unsigned char Max cost
*/
unsigned char maxCost();

/**
* @brief cost at a robot pose
* @param x X of pose
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6 changes: 0 additions & 6 deletions nav2_mppi_controller/src/critics/obstacles_critic.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -192,12 +192,6 @@ CollisionCost ObstaclesCritic::costAtPose(float x, float y, float theta)
return collision_cost;
}

unsigned char ObstaclesCritic::maxCost()
{
return consider_footprint_ ? nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE :
nav2_costmap_2d::INSCRIBED_INFLATED_OBSTACLE - 1;
}

} // namespace mppi::critics

#include <pluginlib/class_list_macros.hpp>
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